OpenRaiser/Intern-Atlas huggingface dataset:
TopoSD: Topology-Enhanced Lane Segment Perception with SDMap Prior
Venue: arXiv cs.CV 2024
Year: 2024

Recent advances in autonomous driving systems have shifted towards reducing reliance on high-definition maps (HDMaps) due to the huge costs of annotation and maintenance. Instead, researchers are focusing on online vectorized HDMap construction using on-board sensors. However, sensor-only approaches still face challenges in long-range perception due to the restricted views imposed by the mounting angles of onboard cameras, just as human drivers also rely on bird's-eye-view navigation maps for a comprehensive understanding of road structures. To address these issues, we propose to train the perception model to "see" standard definition maps (SDMaps). We encode SDMap elements into neural spatial map representations and instance tokens, and then incorporate such complementary features as prior information to improve the bird's eye view (BEV) feature for lane geometry and topology decoding. Based on the lane segment representation framework, the model simultaneously predicts lanes, centrelines and their topology. To further enhance the ability of geometry prediction and topology reasoning, we also use a topology-guided decoder to refine the predictions by exploiting the mutual relationships between topological and geometric features. We perform extensive experiments on OpenLane-V2 datasets to validate the proposed method. The results show that our model outperforms state-of-the-art methods by a large margin, with gains of +6.7 and +9.1 on the mAP and topology metrics. Our analysis also reveals that models trained with SDMap noise augmentation exhibit enhanced robustness.
Grid and Road Expressions Are Complementary for Trajectory Representation Learning
Venue: arXiv cs.LG 2024
Year: 2024

Trajectory representation learning (TRL) maps trajectories to vectors that can be used for many downstream tasks. Existing TRL methods use either grid trajectories, capturing movement in free space, or road trajectories, capturing movement in a road network, as input. We observe that the two types of trajectories are complementary, providing either region and location information or providing road structure and movement regularity. Therefore, we propose a novel multimodal TRL method, dubbed GREEN, to jointly utilize Grid and Road trajectory Expressions for Effective representatioN learning. In particular, we transform raw GPS trajectories into both grid and road trajectories and tailor two encoders to capture their respective information. To align the two encoders such that they complement each other, we adopt a contrastive loss to encourage them to produce similar embeddings for the same raw trajectory and design a mask language model (MLM) loss to use grid trajectories to help reconstruct masked road trajectories. To learn the final trajectory representation, a dual-modal interactor is used to fuse the outputs of the two encoders via cross-attention. We compare GREEN with 7 state-of-the-art TRL methods for 3 downstream tasks, finding that GREEN consistently outperforms all baselines and improves the accuracy of the best-performing baseline by an average of 15.99\%.
Reconciling Semantic Controllability and Diversity for Remote Sensing Image Synthesis with Hybrid Semantic Embedding
Venue: arXiv cs.CV 2024
Year: 2024

Significant advancements have been made in semantic image synthesis in remote sensing. However, existing methods still face formidable challenges in balancing semantic controllability and diversity. In this paper, we present a Hybrid Semantic Embedding Guided Generative Adversarial Network (HySEGGAN) for controllable and efficient remote sensing image synthesis. Specifically, HySEGGAN leverages hierarchical information from a single source. Motivated by feature description, we propose a hybrid semantic Embedding method, that coordinates fine-grained local semantic layouts to characterize the geometric structure of remote sensing objects without extra information. Besides, a Semantic Refinement Network (SRN) is introduced, incorporating a novel loss function to ensure fine-grained semantic feedback. The proposed approach mitigates semantic confusion and prevents geometric pattern collapse. Experimental results indicate that the method strikes an excellent balance between semantic controllability and diversity. Furthermore, HySEGGAN significantly improves the quality of synthesized images and achieves state-of-the-art performance as a data augmentation technique across multiple datasets for downstream tasks.
VideoEspresso: A Large-Scale Chain-of-Thought Dataset for Fine-Grained Video Reasoning via Core Frame Selection
Venue: arXiv cs.CV 2024
Year: 2024

The advancement of Large Vision Language Models (LVLMs) has significantly improved multimodal understanding, yet challenges remain in video reasoning tasks due to the scarcity of high-quality, large-scale datasets. Existing video question-answering (VideoQA) datasets often rely on costly manual annotations with insufficient granularity or automatic construction methods with redundant frame-by-frame analysis, limiting their scalability and effectiveness for complex reasoning. To address these challenges, we introduce VideoEspresso, a novel dataset that features VideoQA pairs preserving essential spatial details and temporal coherence, along with multimodal annotations of intermediate reasoning steps. Our construction pipeline employs a semantic-aware method to reduce redundancy, followed by generating QA pairs using GPT-4o. We further develop video Chain-of-Thought (CoT) annotations to enrich reasoning processes, guiding GPT-4o in extracting logical relationships from QA pairs and video content. To exploit the potential of high-quality VideoQA pairs, we propose a Hybrid LVLMs Collaboration framework, featuring a Frame Selector and a two-stage instruction fine-tuned reasoning LVLM. This framework adaptively selects core frames and performs CoT reasoning using multimodal evidence. Evaluated on our proposed benchmark with 14 tasks against 9 popular LVLMs, our method outperforms existing baselines on most tasks, demonstrating superior video reasoning capabilities. Our code and dataset will be released at: https://github.com/hshjerry/VideoEspresso
Harlequin: Color-driven Generation of Synthetic Data for Referring Expression Comprehension
Venue: arXiv cs.CV 2024
Year: 2024

Referring Expression Comprehension (REC) aims to identify a particular object in a scene by a natural language expression, and is an important topic in visual language understanding. State-of-the-art methods for this task are based on deep learning, which generally requires expensive and manually labeled annotations. Some works tackle the problem with limited-supervision learning or relying on Large Vision and Language Models. However, the development of techniques to synthesize labeled data is overlooked. In this paper, we propose a novel framework that generates artificial data for the REC task, taking into account both textual and visual modalities. At first, our pipeline processes existing data to create variations in the annotations. Then, it generates an image using altered annotations as guidance. The result of this pipeline is a new dataset, called Harlequin, made by more than 1M queries. This approach eliminates manual data collection and annotation, enabling scalability and facilitating arbitrary complexity. We pre-train three REC models on Harlequin, then fine-tuned and evaluated on human-annotated datasets. Our experiments show that the pre-training on artificial data is beneficial for performance.
Latent Schrodinger Bridge: Prompting Latent Diffusion for Fast Unpaired Image-to-Image Translation
Venue: arXiv cs.CV 2024
Year: 2024

Diffusion models (DMs), which enable both image generation from noise and inversion from data, have inspired powerful unpaired image-to-image (I2I) translation algorithms. However, they often require a larger number of neural function evaluations (NFEs), limiting their practical applicability. In this paper, we tackle this problem with Schrodinger Bridges (SBs), which are stochastic differential equations (SDEs) between distributions with minimal transport cost. We analyze the probability flow ordinary differential equation (ODE) formulation of SBs, and observe that we can decompose its vector field into a linear combination of source predictor, target predictor, and noise predictor. Inspired by this observation, we propose Latent Schrodinger Bridges (LSBs) that approximate the SB ODE via pre-trained Stable Diffusion, and develop appropriate prompt optimization and change of variables formula to match the training and inference between distributions. We demonstrate that our algorithm successfully conduct competitive I2I translation in unsupervised setting with only a fraction of computation cost required by previous DM-based I2I methods.
Implementation of Real-Time Lane Detection on Autonomous Mobile Robot
Venue: arXiv cs.RO 2024
Year: 2024

This paper describes the implementation of a learning-based lane detection algorithm on an Autonomous Mobile Robot. It aims to implement the Ultra Fast Lane Detection algorithm for real-time application on the SEATER P2MC-BRIN prototype using a camera and optimize its performance on the Jetson Nano platform. Preliminary experiments were conducted to evaluate the algorithm's performance in terms of data processing speed and accuracy using two types of datasets: outdoor using a public dataset and indoor using an internal dataset from the indoor area of the BRIN Workshop Building in Bandung. The experiments revealed that the algorithm runs more optimally on the Jetson Nano platform after conversion to TensorRT compared to the ONNX model, achieving processing speeds of approximately 101 ms using CULane and 105 ms using TuSimple, which is about 22 times faster than the previous model. While the algorithm demonstrates good accuracy on the outdoor public dataset, its performance falls short on the indoor dataset. Future work should focus on transfer learning and fine-tuning to enhance indoor lane detection accuracy.
Leveraging Hierarchical Prototypes as the Verbalizer for Implicit Discourse Relation Recognition
Venue: arXiv cs.CL 2024
Year: 2024

Implicit discourse relation recognition involves determining relationships that hold between spans of text that are not linked by an explicit discourse connective. In recent years, the pre-train, prompt, and predict paradigm has emerged as a promising approach for tackling this task. However, previous work solely relied on manual verbalizers for implicit discourse relation recognition, which suffer from issues of ambiguity and even incorrectness. To overcome these limitations, we leverage the prototypes that capture certain class-level semantic features and the hierarchical label structure for different classes as the verbalizer. We show that our method improves on competitive baselines. Besides, our proposed approach can be extended to enable zero-shot cross-lingual learning, facilitating the recognition of discourse relations in languages with scarce resources. These advancement validate the practicality and versatility of our approach in addressing the issues of implicit discourse relation recognition across different languages.
Feasibility Study for Supporting Static Malware Analysis Using LLM
Venue: arXiv cs.CR 2024
Year: 2024

Large language models (LLMs) are becoming more advanced and widespread and have shown their applicability to various domains, including cybersecurity. Static malware analysis is one of the most important tasks in cybersecurity; however, it is time-consuming and requires a high level of expertise. Therefore, we conducted a demonstration experiment focusing on whether an LLM can be used to support static analysis. First, we evaluated the ability of the LLM to explain malware functionality. The results showed that the LLM can generate descriptions that cover functions with an accuracy of up to 90.9\%. In addition, we asked six static analysts to perform a pseudo static analysis task using LLM explanations to verify that the LLM can be used in practice. Through subsequent questionnaires and interviews with the participants, we also demonstrated the practical applicability of LLMs. Lastly, we summarized the problems and required functions when using an LLM as static analysis support, as well as recommendations for future research opportunities.
Trajectory Planning and Control for Robotic Magnetic Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic interactions, especially when there are complex navigation requirements such as avoidance of sensitive tissues. In this work, we present a novel trajectory planning and control method incorporating dynamics and navigation requirements, using a single EPM fixed to a robotic arm to manipulate an internal permanent magnet (IPM). Our approach employs a constrained iterative linear quadratic regulator that considers the dynamics of the IPM to generate optimal trajectories for both the EPM and IPM. Extensive simulations and real-world experiments, motivated by capsule endoscopy operations, demonstrate the robustness of the method, showcasing resilience to external disturbances and precise control under varying conditions. The experimental results show that the IPM reaches the goal position with a maximum mean error of 0.18 cm and a standard deviation of 0.21 cm. This work introduces a unified framework for constrained trajectory optimization in magnetic manipulation, directly incorporating both the IPM's dynamics and the EPM's manipulability.
Design-o-meter: Towards Evaluating and Refining Graphic Designs
Venue: arXiv cs.CV 2024
Year: 2024

Graphic designs are an effective medium for visual communication. They range from greeting cards to corporate flyers and beyond. Off-late, machine learning techniques are able to generate such designs, which accelerates the rate of content production. An automated way of evaluating their quality becomes critical. Towards this end, we introduce Design-o-meter, a data-driven methodology to quantify the goodness of graphic designs. Further, our approach can suggest modifications to these designs to improve its visual appeal. To the best of our knowledge, Design-o-meter is the first approach that scores and refines designs in a unified framework despite the inherent subjectivity and ambiguity of the setting. Our exhaustive quantitative and qualitative analysis of our approach against baselines adapted for the task (including recent Multimodal LLM-based approaches) brings out the efficacy of our methodology. We hope our work will usher more interest in this important and pragmatic problem setting.
Autonomous Tail-Sitter Flights in Unknown Environments
Venue: arXiv cs.RO 2024
Year: 2024

Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In this paper, we introduce, to the best of our knowledge, the world's first fully autonomous tail-sitter UAV capable of high-speed navigation in unknown, cluttered environments. The UAV autonomy is enabled by cutting-edge technologies including LiDAR-based sensing, differential-flatness-based trajectory planning and control with purely onboard computation. In particular, we propose an optimization-based tail-sitter trajectory planning framework that generates high-speed, collision-free, and dynamically-feasible trajectories. To efficiently and reliably solve this nonlinear, constrained \textcolor{black}{problem}, we develop an efficient feasibility-assured solver, EFOPT, tailored for the online planning of tail-sitter UAVs. We conduct extensive simulation studies to benchmark EFOPT's superiority in planning tasks against conventional NLP solvers. We also demonstrate exhaustive experiments of aggressive autonomous flights with speeds up to 15m/s in various real-world environments, including indoor laboratories, underground parking lots, and outdoor parks. A video demonstration is available at https://youtu.be/OvqhlB2h3k8, and the EFOPT solver is open-sourced at https://github.com/hku-mars/EFOPT.
One to rule them all: natural language to bind communication, perception and action
Venue: arXiv cs.RO 2024
Year: 2024

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range of applications, from personal assistance to industrial robotics, emphasizing the importance of robots interacting flexibly, naturally and safely with humans. This paper presents an advanced architecture for robotic action planning that integrates communication, perception, and planning with Large Language Models (LLMs). Our system is designed to translate commands expressed in natural language into executable robot actions, incorporating environmental information and dynamically updating plans based on real-time feedback. The Planner Module is the core of the system where LLMs embedded in a modified ReAct framework are employed to interpret and carry out user commands. By leveraging their extensive pre-trained knowledge, LLMs can effectively process user requests without the need to introduce new knowledge on the changing environment. The modified ReAct framework further enhances the execution space by providing real-time environmental perception and the outcomes of physical actions. By combining robust and dynamic semantic map representations as graphs with control components and failure explanations, this architecture enhances a robot adaptability, task execution, and seamless collaboration with human users in shared and dynamic environments. Through the integration of continuous feedback loops with the environment the system can dynamically adjusts the plan to accommodate unexpected changes, optimizing the robot ability to perform tasks. Using a dataset of previous experience is possible to provide detailed feedback about the failure. Updating the LLMs context of the next iteration with suggestion on how to overcame the issue.
Indo-US Research Collaboration: strengthening or declining?
Venue: arXiv cs.DL 2024
Year: 2024

Despite the importance of Indo-US research collaboration, it is intriguing to note that measurement and characterization of dynamics of Indo-US research collaboration is relatively underexplored. Therefore, in this work, we investigate major patterns in Indo-US collaboration with respect to certain key aspects using suitable scientometric notions and indicators. The research publication data for the last three decades (1990-2020) is obtained from Web of Science and analysed for the purpose. Results indicate an increase in absolute number of Indo-US collaborated papers over time, with an impressive share of about 1/3rd of India's total internationally collaborated research output. However, the proportionate share of Indo-US collaborated papers in India's internationally collaborated papers has declined over the time, as Indian researchers find new collaborating partners. Nevertheless, the collaboration with US is found to be highly rewarding in terms of citations and boost measures. Important insights and recommendations that may be helpful for shaping up new perspective on Indo-US collaboration policy are presented in this work.
A Real-Time DETR Approach to Bangladesh Road Object Detection for Autonomous Vehicles
Venue: arXiv cs.CV 2024
Year: 2024

In the recent years, we have witnessed a paradigm shift in the field of Computer Vision, with the forthcoming of the transformer architecture. Detection Transformers has become a state of the art solution to object detection and is a potential candidate for Road Object Detection in Autonomous Vehicles. Despite the abundance of object detection schemes, real-time DETR models are shown to perform significantly better on inference times, with minimal loss of accuracy and performance. In our work, we used Real-Time DETR (RTDETR) object detection on the BadODD Road Object Detection dataset based in Bangladesh, and performed necessary experimentation and testing. Our results gave a mAP50 score of 0.41518 in the public 60% test set, and 0.28194 in the private 40% test set.
MOANA: Multi-Objective Ant Nesting Algorithm for Optimization Problems
Venue: arXiv cs.NE 2024
Year: 2024

This paper presents the Multi-Objective Ant Nesting Algorithm (MOANA), a novel extension of the Ant Nesting Algorithm (ANA), specifically designed to address multi-objective optimization problems (MOPs). MOANA incorporates adaptive mechanisms, such as deposition weight parameters, to balance exploration and exploitation, while a polynomial mutation strategy ensures diverse and high-quality solutions. The algorithm is evaluated on standard benchmark datasets, including ZDT functions and the IEEE Congress on Evolutionary Computation (CEC) 2019 multi-modal benchmarks. Comparative analysis against state-of-the-art algorithms like MOPSO, MOFDO, MODA, and NSGA-III demonstrates MOANA's superior performance in terms of convergence speed and Pareto front coverage. Furthermore, MOANA's applicability to real-world engineering optimization, such as welded beam design, showcases its ability to generate a broad range of optimal solutions, making it a practical tool for decision-makers. MOANA addresses key limitations of traditional evolutionary algorithms by improving scalability and diversity in multi-objective scenarios, positioning it as a robust solution for complex optimization tasks.
Uni-Mlip: Unified Self-supervision for Medical Vision Language Pre-training
Venue: arXiv cs.CV 2024
Year: 2024

Recent advancements in vision-language pre-training via contrastive learning have significantly improved performance across computer vision tasks. However, in the medical domain, obtaining multimodal data is often costly and challenging due to privacy, sensitivity, and annotation complexity. To mitigate data scarcity while boosting model performance, we introduce \textbf{Uni-Mlip}, a unified self-supervision framework specifically designed to enhance medical vision-language pre-training. Uni-Mlip seamlessly integrates cross-modality, uni-modality, and fused-modality self-supervision techniques at the data-level and the feature-level. Additionally, Uni-Mlip tailors uni-modal image self-supervision to accommodate the unique characteristics of medical images. Our experiments across datasets of varying scales demonstrate that Uni-Mlip significantly surpasses current state-of-the-art methods in three key downstream tasks: image-text retrieval, image classification, and visual question answering (VQA).
M2oE: Multimodal Collaborative Expert Peptide Model
Venue: arXiv cs.LG 2024
Year: 2024

Peptides are biomolecules comprised of amino acids that play an important role in our body. In recent years, peptides have received extensive attention in drug design and synthesis, and peptide prediction tasks help us better search for functional peptides. Typically, we use the primary sequence and structural information of peptides for model encoding. However, recent studies have focused more on single-modal information (structure or sequence) for prediction without multi-modal approaches. We found that single-modal models are not good at handling datasets with less information in that particular modality. Therefore, this paper proposes the M2oE multi-modal collaborative expert peptide model. Based on previous work, by integrating sequence and spatial structural information, employing expert model and Cross-Attention Mechanism, the model's capabilities are balanced and improved. Experimental results indicate that the M2oE model performs excellently in complex task predictions.